diff --git a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/ErrorData.java b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/ErrorData.java index a9e21f6c31..3973ba0938 100644 --- a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/ErrorData.java +++ b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/ErrorData.java @@ -1,6 +1,6 @@ package com.zhidao.adas.client.bean; -import com.zhidao.support.adas.high.common.DigitalTrans; +import com.zhidao.support.adas.high.common.ByteUtil; import com.zhidao.support.adas.high.common.ProtocolStatus; public class ErrorData extends BaseInfo { @@ -15,6 +15,6 @@ public class ErrorData extends BaseInfo { @Override public String toString() { - return status + "\n原始数据：" + DigitalTrans.byte2HexStr(bytes); + return status + "\n原始数据：" + ByteUtil.byteArrToHex(bytes); } } diff --git a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/MainActivity.java b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/MainActivity.java index 4054ac0572..099e762b5a 100644 --- a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/MainActivity.java +++ b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/MainActivity.java @@ -78,15 +78,19 @@ import com.zhidao.support.adas.high.common.Constants.IPC_CONNECTION_STATUS; import com.zhidao.support.adas.high.common.CupidLogUtils; import com.zhidao.support.adas.high.common.ProtocolStatus; import com.zhidao.support.adas.high.common.ReceiveTimeoutManager; +import com.zhidao.support.adas.high.protocol.RawData; import java.net.Inet4Address; import java.net.InetAddress; import java.net.NetworkInterface; import java.net.SocketException; +import java.text.DecimalFormat; import java.util.ArrayList; import java.util.Enumeration; import java.util.List; import java.util.concurrent.ScheduledExecutorService; +import java.util.concurrent.atomic.AtomicInteger; +import java.util.concurrent.atomic.AtomicLong; import chassis.VehicleStateOuterClass; import io.netty.channel.Channel; @@ -249,7 +253,7 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas connect.setVisibility(View.GONE); disconnect.setVisibility(View.GONE); cb_timeout.setVisibility(View.GONE); - ReceiveTimeoutManager.getInstance().setEnable(false, AdasManager.getInstance().getIpcConnectionStatus()); + AdasManager.getInstance().setEnableTimeoutDetection(false); } role.setOnClickListener(new View.OnClickListener() { @Override @@ -343,19 +347,46 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas } }); boolean isEnable = Constants.getTimeoutEnable(this); - ReceiveTimeoutManager.getInstance().setEnable(isEnable, AdasManager.getInstance().getIpcConnectionStatus()); + AdasManager.getInstance().setEnableTimeoutDetection(isEnable); cb_timeout.setChecked(ReceiveTimeoutManager.getInstance().isEnable()); cb_timeout.setOnCheckedChangeListener(new CompoundButton.OnCheckedChangeListener() { @Override public void onCheckedChanged(CompoundButton buttonView, boolean isChecked) { Constants.setTimeoutEnable(MainActivity.this, isChecked); - ReceiveTimeoutManager.getInstance().setEnable(isChecked, AdasManager.getInstance().getIpcConnectionStatus()); + AdasManager.getInstance().setEnableTimeoutDetection(isChecked); } }); cb_timeout.setOnLongClickListener(new View.OnLongClickListener() { @Override public boolean onLongClick(View v) { - showToastCenter("由于没有心跳机制，如果服务器端断网或其他非正常断开，客户端无法感知，所以需要进行数据接收超时检测", Toast.LENGTH_LONG); + AlertDialog.Builder builder = new AlertDialog.Builder(MainActivity.this); + builder.setTitle("超时时间配置"); + View view = getLayoutInflater().inflate(R.layout.dialog_timeout, null); + final EditText et = view.findViewById(R.id.et); + String timeout = String.valueOf(AdasManager.getInstance().getTimeoutDetectionTime()); + et.setText(timeout); + et.setSelection(timeout.length()); + final TextView hint = view.findViewById(R.id.text_hint); + hint.setText("由于没有心跳机制，如果服务器端断网或其他非正常断开，客户端无法感知，所以需要进行数据接收超时检测"); + builder.setView(view);// + builder.setCancelable(false);// + builder.setPositiveButton("设置", new DialogInterface.OnClickListener() { + @Override + public void onClick(DialogInterface dialogInterface, int i) { + Editable editable = et.getText(); + if (TextUtils.isEmpty(editable)) { + // 条件不成立不能关闭 AlertDialog 窗口 + Toast.makeText(MainActivity.this, "请输入超时时间", Toast.LENGTH_SHORT).show(); + return; + } + String temp = et.getText().toString().trim(); + long t = Long.parseLong(temp); + AdasManager.getInstance().setTimeoutDetectionTime(t); + } + }); + //设置反面按钮，并做事件处理 + builder.setNegativeButton("取消", null); + builder.show();//显示Dialog对话框 return true; } }); @@ -585,7 +616,7 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas } break; case Constants.TITLE.RECEIVE_TRACKED_OBJECTS: - hintTrackedObjects(false); +// hintTrackedObjects(false); if (viewFragment == null) viewFragment = new InfoFragment(data); if (!viewFragment.isVisible()) { @@ -675,7 +706,7 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas } break; case Constants.TITLE.RECEIVE_PERCEPTION_OBSTACLES: - hintTrackedObjects(true); +// hintTrackedObjects(true); if (perceptionObstaclesFragment == null) perceptionObstaclesFragment = new InfoFragment(data); if (!perceptionObstaclesFragment.isVisible()) { @@ -783,6 +814,20 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas return status; } + //计算耗时 +// AtomicInteger integer = new AtomicInteger(0); +// AtomicLong atomicLong = new AtomicLong(0); +// AtomicLong timeLong = new AtomicLong(0); +// +// private void calculateTimeConsuming(RawData raw) { +// int num = integer.incrementAndGet(); +// long time = timeLong.addAndGet(System.nanoTime() - raw.receiveTime); +// long size = atomicLong.addAndGet(raw.originalData.size()); +// if (num % 1000 == 0) { +// double m = time / 1000000.0 / num; +// Log.i("优化后", num + "条数据，平均解析速度=" + m + "毫秒，共接收=" + size + "字节"); +// } +// } @Override public void onError(ProtocolStatus status, byte[] bytes) { @@ -850,6 +895,7 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas DataDistribution.getInstance().addData(base); // String data = PointCloudDecoder.decode(header, pointCloud); // Log.i("dddd", "data==" + data.length()); +// Log.i("dddd", "data==" + data); // LogSave.getInstance().saveLog("转换数据=" + data); } @@ -909,7 +955,8 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas @Override public void onMessageResponseClient(MogoProtocolMsg msg, String sign, Channel channel) { - AdasManager.getInstance().parseIPCData(msg.getBody()); + Log.i("ddd", "dddd" + sign); + AdasManager.getInstance().decoderRaw(msg.getBody()); } @Override @@ -979,7 +1026,7 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas if (NSDNettyManager.getInstance().isServerStart()) { NSDNettyManager.getInstance().sendMsgToAllClients(new MogoProtocolMsg(NORMAL_DATA, bytes.length, bytes)); } else { - Log.d("dddd", "司机端Server未启动！"); +// Log.d("dddd", "司机端Server未启动！"); } } diff --git a/app_ipc_monitoring/src/main/res/layout/dialog_timeout.xml b/app_ipc_monitoring/src/main/res/layout/dialog_timeout.xml new file mode 100644 index 0000000000..086f1dd09c --- /dev/null +++ b/app_ipc_monitoring/src/main/res/layout/dialog_timeout.xml @@ -0,0 +1,31 @@ + + + + + + + \ No newline at end of file diff --git a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt index 3a4a0aa9e1..eed323871b 100644 --- a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt +++ b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt @@ -475,7 +475,7 @@ class MoGoAutopilotProvider : try { msg?.let { when (it.protocolType) { - NORMAL_DATA -> AdasManager.getInstance().parseIPCData(it.body) + NORMAL_DATA -> AdasManager.getInstance().decoderRaw(it.body) SYNC_MODE_STATUS -> { FunctionBuildConfig.isDemoMode = when (it.body[0].toInt()) { 1 -> true diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java index 1f559f162b..be6c1515d7 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java @@ -5,7 +5,6 @@ import static com.zhidao.support.adas.high.chain.AdasChain.CHAIN_ALIAS_CODE_ADAS import static com.zhidao.support.adas.high.chain.AdasChain.CHAIN_ALIAS_CODE_CONNECT_ADDRESS; import static com.zhidao.support.adas.high.chain.AdasChain.CHAIN_ALIAS_CODE_INIT; import static com.zhidao.support.adas.high.chain.AdasChain.CHAIN_ALIAS_CODE_STATUS_CHANGE_REASON; -import static com.zhidao.support.adas.high.chain.AdasChain.CHAIN_ALIAS_CODE_WEB_SOCKET_MESSAGE_BYTE; import static com.zhidao.support.adas.high.chain.AdasChain.CHAIN_LINK_ADAS; import static com.zhidao.support.adas.high.chain.AdasChain.CHAIN_LINK_LOG_CONNECT_STATUS; import static com.zhidao.support.adas.high.chain.AdasChain.CHAIN_LINK_LOG_WEB_SOCKET_AUTOPILOT; @@ -18,15 +17,17 @@ import androidx.annotation.Nullable; import com.google.gson.Gson; import com.google.protobuf.InvalidProtocolBufferException; +import com.google.protobuf.TextFormat; import com.zhidao.support.adas.high.bean.BaseInfo; import com.zhidao.support.adas.high.bean.VersionCompatibility; +import com.zhidao.support.adas.high.common.ByteUtil; import com.zhidao.support.adas.high.common.Constants; import com.zhidao.support.adas.high.common.CupidLogUtils; import com.zhidao.support.adas.high.common.Define; -import com.zhidao.support.adas.high.common.DigitalTrans; import com.zhidao.support.adas.high.common.IPCFixationIPHelper; import com.zhidao.support.adas.high.common.MessageType; import com.zhidao.support.adas.high.common.ProtocolStatus; +import com.zhidao.support.adas.high.common.ReceiveTimeoutManager; import com.zhidao.support.adas.high.common.RegexUtils; import com.zhidao.support.adas.high.msg.IMsg; import com.zhidao.support.adas.high.msg.MyMessageFactory; @@ -36,6 +37,7 @@ import com.zhidao.support.adas.high.protocol.RawUnpack; import com.zhidao.support.adas.high.queue.WSByteQueueManager; import com.zhidao.support.adas.high.queue.WebSocketQueueManager; import com.zhidao.support.adas.high.socket.FpgaSocket; +import com.zhidao.support.adas.high.thread.DispatchHandler; import com.zhjt.service.chain.ChainLog; import com.zhjt.service.chain.TracingConstants; @@ -45,6 +47,7 @@ import java.util.HashSet; import java.util.Timer; import java.util.TimerTask; import java.util.concurrent.atomic.AtomicInteger; +import java.util.concurrent.atomic.AtomicLong; import mogo.telematics.pad.MessagePad; import okio.ByteString; @@ -61,12 +64,12 @@ import okio.ByteString; * @UpdateRemark: 更新说明： * @Version: 1.0 */ -public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnectListener, IPCFixationIPHelper.IIPCFixationIPListener { +public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnectListener, IPCFixationIPHelper.IIPCFixationIPListener, DispatchHandler.OnDispatchHandlerListener { private static final String TAG = AdasChannel.class.getSimpleName(); - private FpgaSocket mSocket; - private RawUnpack rawUnpack;//数据拆包 + private RawUnpack rawUnpack;//业务数据拆包 private RawPack rawPack;//数据打包 + private DispatchHandler dispatchHandler;//分发 private Timer checkCompatibilityTimer;//检查版本兼容性定时器 连接成功后5秒内等待工控机发送配置信息 /** * 与工控机链接状态 @@ -79,6 +82,10 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec */ public static final boolean isUseQueue = false; + /** + * 本通道是否启用分发线程 收发和分发拆分成两个线程 + */ + public static final boolean ADAS_CHANNEL_IS_USE_DISPATCH_HANDLER = true; /** * 序列化rect @@ -139,13 +146,13 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec */ AdasChannel(AdasOptions options, OnAdasConnectStatusListener onAdasConnectStatusListener) { this.adasConnectStatusListener = onAdasConnectStatusListener; - initData(); //配置为null默认是乘客屏幕 if (options == null) { this.adasOptions = new AdasOptions.Builder().setClient(true).build(); } else { this.adasOptions = options; } + initData(); if (!adasOptions.isClient()) { initSocket(); } @@ -157,7 +164,10 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec rawPack = new RawPack(); //消息工厂 myMessageFactory = new MyMessageFactory(); - + //司机端以及启用线程分发时 + if (!adasOptions.isClient() && ADAS_CHANNEL_IS_USE_DISPATCH_HANDLER) { + dispatchHandler = new DispatchHandler(this); + } } /** @@ -260,34 +270,78 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec * @param bytes 数据 */ @Override - public void parseIPCData(byte[] bytes) { + public void decoderRaw(byte[] bytes) { if (bytes == null || bytes.length == 0) { return; } ByteString byteString = ByteString.of(bytes); + decoderRaw(byteString); + } + + + //数据解析以及调用分发 + private void decoderRaw(ByteString byteString) { + //拆Header try { if (rawUnpack != null) { RawData raw = rawUnpack.read(byteString); if (raw.getProtocolStatus() == ProtocolStatus.SUCCEED) { - MessagePad.Header header = MessagePad.Header.parseFrom(raw.getHeader()); - MessagePad.MessageType messageType = header.getMsgType(); + MessagePad.Header header = MessagePad.Header.parser().parseFrom(byteString.toByteArray(), raw.getOutHeaderLength(), raw.getOffsetValue() - raw.getOutHeaderLength()); + raw.setHeader(header); + //司机端刷新心跳 + if (!adasOptions.isClient()) + ReceiveTimeoutManager.getInstance().refreshLast(header.getTimestamp()); // CupidLogUtils.w("--->websocket byte read header = " + messageType.toString()); - IMsg iMsg = myMessageFactory.createMessage(messageType); - if (iMsg == null) { - callError(ProtocolStatus.MESSAGE_TYPE_UNKNOWN, bytes); - return; + //判断是否是司机屏幕，是否切换分发线程 + if (!adasOptions.isClient() && ADAS_CHANNEL_IS_USE_DISPATCH_HANDLER) { + if (dispatchHandler != null) + dispatchHandler.sendRawMessage(raw); + } else { + dispatchRaw(raw); } - iMsg.handlerMsg(header, raw.getPayload(), mAdasListener); } else { - callError(raw.getProtocolStatus(), bytes); + callError(raw.getProtocolStatus(), byteString.toByteArray()); } } } catch (Exception e) { - callError(ProtocolStatus.BUSINESS_DATA_PARSE_FAILED, bytes); - CupidLogUtils.e(TAG, "原始数据:" + DigitalTrans.byte2hex(bytes), e); + callError(ProtocolStatus.HEADER_DECODE_FAILED, byteString.toByteArray()); + CupidLogUtils.e(TAG, "原始数据:" + ByteUtil.byteArrToHex(byteString.toByteArray()), e); } } + + /** + * 分发和解析 + * + * @param raw + */ + private void dispatchRaw(RawData raw) { + try { + if (rawUnpack != null) { + if (raw.getProtocolStatus() == ProtocolStatus.SUCCEED) { + MessagePad.Header header = raw.getHeader(); + MessagePad.MessageType messageType = header.getMsgType(); + IMsg iMsg = myMessageFactory.createMessage(messageType); + if (iMsg == null) { + callError(ProtocolStatus.MESSAGE_TYPE_UNKNOWN, raw.originalData.toByteArray()); + return; + } + iMsg.handlerMsg(raw, mAdasListener); + } else { + callError(raw.getProtocolStatus(), raw.originalData.toByteArray()); + } + } + } catch (Exception e) { + callError(ProtocolStatus.BUSINESS_DATA_PARSE_FAILED, raw.originalData.toByteArray()); + CupidLogUtils.e(TAG, "原始数据:" + ByteUtil.byteArrToHex(raw.originalData.toByteArray()), e); + } + } + + @Override + public void onDispatchRaw(RawData raw) { + dispatchRaw(raw); + } + private void callError(ProtocolStatus status, byte[] bytes) { if (mAdasListener != null) { mAdasListener.onError(status, bytes); @@ -318,7 +372,6 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec } } } - } /** @@ -339,14 +392,6 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec } } - private void handlerWSMsg(ByteString bytes) { - byte[] bytes1 = bytes.toByteArray(); - parseIPCData(bytes1); - if (!adasOptions.isClient() && onMultiDeviceListener != null) { - onMultiDeviceListener.onForwardingIPCMessage(bytes1); - } - } - @Override public void onConnecting(String msg) { updateConnectStatus(Constants.IPC_CONNECTION_STATUS.CONNECTING, msg); @@ -373,7 +418,11 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec @Override public void onMessage(ByteString bytes) throws InvalidProtocolBufferException { - handlerWSMsg(bytes); + decoderRaw(bytes); + //乘客屏数据分发 + if (!adasOptions.isClient() && onMultiDeviceListener != null) { + onMultiDeviceListener.onForwardingIPCMessage(bytes.toByteArray()); + } } private void notFoundAddress() { @@ -429,7 +478,7 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec private final OnAdasConnectStatusListener adasConnectStatusListener; /** - * 更新连接状态 + * 工控机连接状态更新 * * @param status 状态 * @param reason 状态描述 @@ -447,10 +496,20 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec adasConnectStatusListener.onConnectionIPCStatus(ipcConnectionStatus.get(), reason); } if (status == Constants.IPC_CONNECTION_STATUS.CONNECTED) { + if (ADAS_CHANNEL_IS_USE_DISPATCH_HANDLER && dispatchHandler != null) { + dispatchHandler.start(); + } startCheckCompatibility(); } else { stopCheckCompatibility(); } + if (status == Constants.IPC_CONNECTION_STATUS.DISCONNECTED) { + AdasManager.getInstance().setCarConfig(null); + if (ADAS_CHANNEL_IS_USE_DISPATCH_HANDLER && dispatchHandler != null) { + dispatchHandler.stop(); + } + } + CupidLogUtils.i(TAG, "工控机连接状态 status=" + status + " reason=" + reason); } /** diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java index f828e86ae6..ef42d6a321 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java @@ -8,6 +8,7 @@ import com.zhidao.support.adas.high.bean.BaseInfo; import com.zhidao.support.adas.high.bean.VersionCompatibility; import com.zhidao.support.adas.high.common.AppPreferenceHelper; import com.zhidao.support.adas.high.common.Constants; +import com.zhidao.support.adas.high.common.ReceiveTimeoutManager; import java.util.HashSet; @@ -204,9 +205,9 @@ public class AdasManager implements IAdasNetCommApi { * @param bytes 数据 */ @Override - public void parseIPCData(byte[] bytes) { + public void decoderRaw(byte[] bytes) { if (mChannel != null) { - mChannel.parseIPCData(bytes); + mChannel.decoderRaw(bytes); } } @@ -439,6 +440,44 @@ public class AdasManager implements IAdasNetCommApi { AppPreferenceHelper.getInstance(context).delIPCFixationIP(); } + /** + * 设置是否启用超时检测 + * 不会存储 下次启动恢复默认 + * + * @param isEnable 是否启用 + */ + public void setEnableTimeoutDetection(boolean isEnable) { + ReceiveTimeoutManager.getInstance().setEnable(isEnable, getIpcConnectionStatus()); + } + + /** + * 获取超时检测是否启用 + * + * @return 是否启用 + */ + public boolean isEnableTimeoutDetection() { + return ReceiveTimeoutManager.getInstance().isEnable(); + } + + /** + * 设置超时检测的超时时间 + * 不会存储 下次启动恢复默认 + * + * @param timeout 毫秒 + */ + public void setTimeoutDetectionTime(long timeout) { + ReceiveTimeoutManager.getInstance().setTimeout(timeout); + } + + /** + * 获取超时检测的超时时间 + * + * @return 毫秒 + */ + public long getTimeoutDetectionTime() { + return ReceiveTimeoutManager.getInstance().getTimeout(); + } + /** * 发送升级指令 TODO 将会被删除 * diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/IAdasNetCommApi.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/IAdasNetCommApi.java index 45e7eaa5d9..b66df06b40 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/IAdasNetCommApi.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/IAdasNetCommApi.java @@ -198,7 +198,7 @@ public interface IAdasNetCommApi { * * @param bytes 数据 */ - void parseIPCData(byte[] bytes); + void decoderRaw(byte[] bytes); /** * Log是否开启打印 diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/ByteUtil.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/ByteUtil.java new file mode 100644 index 0000000000..794ba88e8e --- /dev/null +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/ByteUtil.java @@ -0,0 +1,380 @@ +package com.zhidao.support.adas.high.common; + + +import java.math.BigInteger; +import java.util.ArrayList; +import java.util.Arrays; +import java.util.List; + +public class ByteUtil { + private static final String TAG = ByteUtil.class.getSimpleName(); + + + public static byte[] set8bitUnsignedValue(int num) { + return new byte[]{(byte) (num)}; + } + + public static byte[] set16bitUnsignedValue(int num) { + byte[] bytes = new byte[2]; + bytes[0] = (byte) (num >> 8); + bytes[1] = (byte) num; + return bytes; + } + + public static byte[] set32bitUnsignedValue(long num) { + byte[] bytes = new byte[4]; + bytes[0] = (byte) (num >> 24); + bytes[1] = (byte) (num >> 16); + bytes[2] = (byte) (num >> 8); + bytes[3] = (byte) num; + return bytes; + } + + public static byte[] set64bitUnsignedValue(long num) { + byte[] bytes = new byte[8]; + bytes[0] = (byte) (num >> 56); + bytes[1] = (byte) (num >> 48); + bytes[2] = (byte) (num >> 40); + bytes[3] = (byte) (num >> 32); + bytes[4] = (byte) (num >> 24); + bytes[5] = (byte) (num >> 16); + bytes[6] = (byte) (num >> 8); + bytes[7] = (byte) num; + return bytes; + } + + /** + * 无符号 + * 1 byte + * 使用后将 Index中的index移动到下一个数据的开始位 + * + * @param index 开始下标 + * @param data + * @return + */ + + + public static int get8bitUnsignedValue(int index, byte[] data) { + int value = 0; + if (data.length > index) { + value = data[index] & 0xFF; + } + return value; + } + + /** + * 无符号 + * 合并 2 byte + * 使用后将 Index中的index移动到下一个数据的开始位 + * + * @param index 开始下标 + * @param data + * @return + */ + + public static int get16bitUnsignedValue(int index, byte[] data) { +// String str = "byte[]= %02X %02X"; +// L.i("Index=" + index + String.format(str, data[index], data[index + 1])); + int value = 0; + if (data.length > index + 1) { + value = data[index++] & 0xFF; + value = value << 8; + value = value | (data[index] & 0xFF); + } + return value; + } + + /** + * 无符号 + * 合并 4 byte + * 使用后将 Index中的index移动到下一个数据的开始位 + * * + * + * @param index 开始下标 + * @param data + * @return + */ + + public static int get32bitUnsignedValue(int index, byte[] data) { + int value = 0; + if (data.length > index + 3) { + value = data[index++] & 0xFF; + value = value << 8; + value = value | (data[index++] & 0xFF); + value = value << 8; + value = value | (data[index++] & 0xFF); + value = value << 8; + value = value | (data[index] & 0xFF); + } + return value; + } + + /** + * 无符号 + * 合并 8 byte + * 使用后将 Index中的index移动到下一个数据的开始位 + * + * @param index 开始下标 + * @param data + * @return + */ + + /** + * 超过{@link Long#MAX_VALUE} 会产生有符号值,目前 Unit Mask 值未超过最大值 + * + * @param index + * @param data + * @return + */ + public static long get64bitUnsignedValue(int index, byte[] data) { + + long value = 0; + if (data.length > index + 7) { + value = data[index++] & 0xFF; + value = value << 8; + value = value | (data[index++] & 0xFF); + value = value << 8; + value = value | (data[index++] & 0xFF); + value = value << 8; + value = value | (data[index++] & 0xFF); + value = value << 8; + value = value | (data[index++] & 0xFF); + value = value << 8; + value = value | (data[index++] & 0xFF); + value = value << 8; + value = value | (data[index++] & 0xFF); + value = value << 8; + value = value | (data[index] & 0xFF); + } + return value; + } + + /** + * 合并 8 byte + * 使用后将 Index中的index移动到下一个数据的开始位 + * + * @param index 开始下标 + * @param data + * @return + */ + + + private static final BigInteger TWO_COMPL_REF = BigInteger.ONE.shiftLeft(64); + + public static String get64bitUnsignedString(int index, byte[] data) { + BigInteger bigInteger = null; + if (data.length > index + 7) { + byte[] bytes = new byte[8]; + System.arraycopy(data, index, bytes, 0, 8); + bigInteger = new BigInteger(bytes); + if (bigInteger.compareTo(BigInteger.ZERO) < 0) + bigInteger = bigInteger.add(TWO_COMPL_REF); + } + return bigInteger == null ? null : bigInteger.toString(); + } + + /** + * 有符号 + * 1 byte + * + * @param index 开始下标 + * @param data + * @return + */ + + + public static int get8bitSignedValue(int index, byte[] data) { + int value = 0; + if (data.length > index) { + value = data[index]; + } + return value; + } + + /** + * 有符号 + * 合并 2 byte + * + * @param index 开始下标 + * @param data + * @return + */ + + public static int get16bitSignedValue(int index, byte[] data) { + int value = 0; + if (data.length > index + 1) { + value = data[index++]; + value = value << 8; + value = value | data[index]; + } + return value; + } + + /** + * 有符号 + * 合并 4 byte + * + * @param index 开始下标 + * @param data + * @return + */ + + + public static long get32bitSignedValue(int index, byte[] data) { + long value = 0L; + if (data.length > index + 3) { + value = data[index++]; + value = value << 8; + value = value | data[index++]; + value = value << 8; + value = value | data[index++]; + value = value << 8; + value = value | data[index]; + } + return value; + } + + /** + * 有符号 + * 合并 8 byte + * + * @param index 开始下标 + * @param data + * @return + */ + + + public static long get64bitSignedValue(int index, byte[] data) { + long value = 0; + if (data.length > index + 7) { + value = data[index++]; + value = value << 8; + value = value | data[index++]; + value = value << 8; + value = value | data[index++]; + value = value << 8; + value = value | data[index++]; + value = value << 8; + value = value | data[index++]; + value = value << 8; + value = value | data[index++]; + value = value << 8; + value = value | data[index++]; + value = value << 8; + value = value | data[index]; + } + return value; + } + + + /** + * 判断奇数或偶数，位运算，最后一位是1则为奇数，为0是偶数 + * + * @param num + * @return + */ + public static int isOdd(int num) { + return num & 0x1; + } + + /** + * Hex字符串转byte + * + * @param inHex + * @return + */ + public static byte hexToByte(String inHex) { + return (byte) Integer.parseInt(inHex, 16); + } + + /** + * 转hex字符串转字节数组 + * + * @param inHex + * @return + */ + public static byte[] hexToByteArr(String inHex) { + inHex = inHex.replaceAll(" ", ""); + int hexlen = inHex.length(); + byte[] result; + if (isOdd(hexlen) == 1) {//奇数 + hexlen++; + result = new byte[(hexlen / 2)]; + inHex = "0" + inHex; + } else {//偶数 + result = new byte[(hexlen / 2)]; + } + int j = 0; + for (int i = 0; i < hexlen; i += 2) { + result[j] = hexToByte(inHex.substring(i, i + 2)); + j++; + } + return result; + } + + /** + * 1字节转2个Hex字符 无符号 不足两位 + * + * @param inByte + * @return + */ + public static String byte2Hex(int inByte) { + String hex = Integer.toHexString(inByte & 0xFF).toUpperCase(); + return (hex.length() == 1) ? "0" + hex : hex; + } + + /** + * 字节数组转转hex字符串 + * + * @param inBytArr + * @return + */ + public static String byteArrToHex(byte[] inBytArr) { + return byteArrToHex(inBytArr, true); + } + + public static String byteArrToHex(byte[] inBytArr, boolean isAddSpacing) { + if (inBytArr == null) + return null; + StringBuilder strBuilder = new StringBuilder(); + for (byte b : inBytArr) { + strBuilder.append(byte2Hex(b)); + if (isAddSpacing) + strBuilder.append(" "); + } + return strBuilder.toString().toUpperCase().trim(); + } + + + /** + * 拼接两个byte[] + * + * @param + * @param + * @return + */ + public static byte[] concatBytes(byte[] bt1, byte[] bt2) { + if (bt1 == null) { + return bt2; + } + if (bt2 == null) { + return bt1; + } + byte[] bt3 = new byte[bt1.length + bt2.length]; + System.arraycopy(bt1, 0, bt3, 0, bt1.length); + System.arraycopy(bt2, 0, bt3, bt1.length, bt2.length); + return bt3; + } + + //翻转 + public static String byteToBit(byte b) { + return "" + (byte) ((b >> 0) & 0x1) + + (byte) ((b >> 1) & 0x1) + + (byte) ((b >> 2) & 0x1) + + (byte) ((b >> 3) & 0x1) + + (byte) ((b >> 4) & 0x1) + + (byte) ((b >> 5) & 0x1) + + (byte) ((b >> 6) & 0x1) + + (byte) ((b >> 7) & 0x1); + } +} diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/DigitalTrans.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/DigitalTrans.java deleted file mode 100644 index bca5d7a9d2..0000000000 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/DigitalTrans.java +++ /dev/null @@ -1,607 +0,0 @@ -package com.zhidao.support.adas.high.common; - -public class DigitalTrans { - - /** - * 数字字符串转ASCII码字符串 - * - * @param content 字符串 - * @return ASCII字符串 - */ - public static String StringToAsciiString(String content) { - String result = ""; - int max = content.length(); - for (int i = 0; i < max; i++) { - char c = content.charAt(i); - String b = Integer.toHexString(c); - result = result + b; - } - return result; - } - - /** - * 十六进制转字符串 - * - * @param hexString 十六进制字符串 - * @param encodeType 编码类型4：Unicode，2：普通编码 - * @return 字符串 - */ - public static String hexStringToString(String hexString, int encodeType) { - String result = ""; - int max = hexString.length() / encodeType; - for (int i = 0; i < max; i++) { - char c = (char) DigitalTrans.hexStringToAlgorism(hexString - .substring(i * encodeType, (i + 1) * encodeType)); - result += c; - } - return result; - } - - /** - * 十六进制字符串装十进制 - * - * @param hex 十六进制字符串 - * @return 十进制数值 - */ - public static int hexStringToAlgorism(String hex) { - hex = hex.toUpperCase(); - int max = hex.length(); - int result = 0; - for (int i = max; i > 0; i--) { - char c = hex.charAt(i - 1); - int algorism = 0; - if (c >= '0' && c <= '9') { - algorism = c - '0'; - } else { - algorism = c - 55; - } - result += Math.pow(16, max - i) * algorism; - } - return result; - } - - /** - * 十六转二进制 - * - * @param hex 十六进制字符串 - * @return 二进制字符串 - */ - public static String hexStringToBinary(String hex) { - hex = hex.toUpperCase(); - String result = ""; - int max = hex.length(); - for (int i = 0; i < max; i++) { - char c = hex.charAt(i); - switch (c) { - case '0': - result += "0000"; - break; - case '1': - result += "0001"; - break; - case '2': - result += "0010"; - break; - case '3': - result += "0011"; - break; - case '4': - result += "0100"; - break; - case '5': - result += "0101"; - break; - case '6': - result += "0110"; - break; - case '7': - result += "0111"; - break; - case '8': - result += "1000"; - break; - case '9': - result += "1001"; - break; - case 'A': - result += "1010"; - break; - case 'B': - result += "1011"; - break; - case 'C': - result += "1100"; - break; - case 'D': - result += "1101"; - break; - case 'E': - result += "1110"; - break; - case 'F': - result += "1111"; - break; - } - } - return result; - } - - /** - * ASCII码字符串转数字字符串 - * - * @param content ASCII字符串 - * @return 字符串 - */ - public static String AsciiStringToString(String content) { - String result = ""; - int length = content.length() / 2; - for (int i = 0; i < length; i++) { - String c = content.substring(i * 2, i * 2 + 2); - int a = hexStringToAlgorism(c); - char b = (char) a; - String d = String.valueOf(b); - result += d; - } - return result; - } - - /** - * 将十进制转换为指定长度的十六进制字符串 - * - * @param algorism int 十进制数字 - * @param maxLength int 转换后的十六进制字符串长度 - * @return String 转换后的十六进制字符串 - */ - public static String algorismToHEXString(int algorism, int maxLength) { - String result = ""; - result = Integer.toHexString(algorism); - - if (result.length() % 2 == 1) { - result = "0" + result; - } - return patchHexString(result.toUpperCase(), maxLength); - } - - /** - * 字节数组转为普通字符串（ASCII对应的字符） - * - * @param bytearray byte[] - * @return String - */ - public static String bytetoString(byte[] bytearray) { - String result = ""; - char temp; - - int length = bytearray.length; - for (int i = 0; i < length; i++) { - temp = (char) bytearray[i]; - result += temp; - } - return result; - } - - /** - * 二进制字符串转十进制 - * - * @param binary 二进制字符串 - * @return 十进制数值 - */ - public static int binaryToAlgorism(String binary) { - int max = binary.length(); - int result = 0; - for (int i = max; i > 0; i--) { - char c = binary.charAt(i - 1); - int algorism = c - '0'; - result += Math.pow(2, max - i) * algorism; - } - return result; - } - - /** - * 十进制转换为十六进制字符串 - * - * @param algorism int 十进制的数字 - * @return String 对应的十六进制字符串 - */ - public static String algorismToHEXString(int algorism) { - String result = ""; - result = Integer.toHexString(algorism); - - if (result.length() % 2 == 1) { - result = "0" + result; - - } - result = result.toUpperCase(); - - return result; - } - - /** - * HEX字符串前补0，主要用于长度位数不足。 - * - * @param str String 需要补充长度的十六进制字符串 - * @param maxLength int 补充后十六进制字符串的长度 - * @return 补充结果 - */ - static public String patchHexString(String str, int maxLength) { - String temp = ""; - for (int i = 0; i < maxLength - str.length(); i++) { - temp = "0" + temp; - } - str = (temp + str).substring(0, maxLength); - return str; - } - - /** - * 将一个字符串转换为int - * - * @param s String 要转换的字符串 - * @param defaultInt int 如果出现异常,默认返回的数字 - * @param radix int 要转换的字符串是什么进制的,如16 8 10. - * @return int 转换后的数字 - */ - public static int parseToInt(String s, int defaultInt, int radix) { - int i = 0; - try { - i = Integer.parseInt(s, radix); - } catch (NumberFormatException ex) { - i = defaultInt; - } - return i; - } - - /** - * 将一个十进制形式的数字字符串转换为int - * - * @param s String 要转换的字符串 - * @param defaultInt int 如果出现异常,默认返回的数字 - * @return int 转换后的数字 - */ - public static int parseToInt(String s, int defaultInt) { - int i = 0; - try { - i = Integer.parseInt(s); - } catch (NumberFormatException ex) { - i = defaultInt; - } - return i; - } - - /** - * 十六进制字符串转为Byte数组,每两个十六进制字符转为一个Byte - * - * @param hex 十六进制字符串 - * @return byte 转换结果 - */ - public static byte[] hexStringToByte(String hex) { - int max = hex.length() / 2; - byte[] bytes = new byte[max]; - String binarys = DigitalTrans.hexStringToBinary(hex); - for (int i = 0; i < max; i++) { - bytes[i] = (byte) DigitalTrans.binaryToAlgorism(binarys.substring( - i * 8 + 1, (i + 1) * 8)); - if (binarys.charAt(8 * i) == '1') { - bytes[i] = (byte) (0 - bytes[i]); - } - } - return bytes; - } - - /** - * 十六进制串转化为byte数组 - * - * @return the array of byte - */ - public static final byte[] hex2byte(String hex) - throws IllegalArgumentException { - if (hex.length() % 2 != 0) { - throw new IllegalArgumentException(); - } - char[] arr = hex.toCharArray(); - byte[] b = new byte[hex.length() / 2]; - for (int i = 0, j = 0, l = hex.length(); i < l; i++, j++) { - String swap = "" + arr[i++] + arr[i]; - int byteint = Integer.parseInt(swap, 16) & 0xFF; - b[j] = new Integer(byteint).byteValue(); - } - return b; - } - - /** - * 字节数组转换为十六进制字符串 - * - * @param b byte[] 需要转换的字节数组 - * @return String 十六进制字符串 - */ - public static final String byte2hex(byte b[]) { - if (b == null) { - return ""; - } - String hs = ""; - String stmp = ""; - for (int n = 0; n < b.length; n++) { - stmp = Integer.toHexString(b[n] & 0xff); - if (stmp.length() == 1) { - hs = hs + "0" + stmp; - } else { - hs = hs + stmp; - } - } - return hs.toUpperCase(); - } - - /** - * 字符串转换成十六进制字符串 - * - * @param String str 待转换的ASCII字符串 - * @return String 每个Byte之间空格分隔，如: [61 6C 6B] - */ - public static String str2HexStr(String str) { - - char[] chars = "0123456789ABCDEF".toCharArray(); - StringBuilder sb = new StringBuilder(""); - byte[] bs = str.getBytes(); - int bit; - - for (int i = 0; i < bs.length; i++) { - bit = (bs[i] & 0x0f0) >> 4; - sb.append(chars[bit]); - bit = bs[i] & 0x0f; - sb.append(chars[bit]); - sb.append(' '); - } - return sb.toString().trim(); - } - - /** - * 十六进制转换字符串 - * - * @param String str Byte字符串(Byte之间无分隔符 如:[616C6B]) - * @return String 对应的字符串 - */ - public static String hexStr2Str(String hexStr) { - String str = "0123456789ABCDEF"; - char[] hexs = hexStr.toCharArray(); - byte[] bytes = new byte[hexStr.length() / 2]; - int n; - - for (int i = 0; i < bytes.length; i++) { - n = str.indexOf(hexs[2 * i]) * 16; - n += str.indexOf(hexs[2 * i + 1]); - bytes[i] = (byte) (n & 0xff); - } - return new String(bytes); - } - - /** - * bytes转换成十六进制字符串 - * - * @param byte[] b byte数组 - * @return String 每个Byte值之间空格分隔 - */ - public static String byte2HexStr(byte[] b) { - String stmp = ""; - StringBuilder sb = new StringBuilder(""); - for (int n = 0; n < b.length; n++) { - stmp = Integer.toHexString(b[n] & 0xFF); - sb.append((stmp.length() == 1) ? "0" + stmp : stmp); - sb.append(" "); - } - return sb.toString().toUpperCase().trim(); - } - - /** - * bytes字符串转换为Byte值 - * - * @param String src Byte字符串，每个Byte之间没有分隔符 - * @return byte[] - */ - public static byte[] hexStr2Bytes(String src) { - int m = 0, n = 0; - int l = src.length() / 2; - System.out.println(l); - byte[] ret = new byte[l]; - for (int i = 0; i < l; i++) { - m = i * 2 + 1; - n = m + 1; - ret[i] = Byte.decode("0x" + src.substring(i * 2, m) + src.substring(m, n)); - } - return ret; - } - - /** - * String的字符串转换成unicode的String - * - * @param String strText 全角字符串 - * @return String 每个unicode之间无分隔符 - * @throws Exception - */ - public static String strToUnicode(String strText) - throws Exception { - char c; - StringBuilder str = new StringBuilder(); - int intAsc; - String strHex; - for (int i = 0; i < strText.length(); i++) { - c = strText.charAt(i); - intAsc = (int) c; - strHex = Integer.toHexString(intAsc); - if (intAsc > 128) - str.append("\\u" + strHex); - else // 低位在前面补00 - str.append("\\u00" + strHex); - } - return str.toString(); - } - - /** - * unicode的String转换成String的字符串 - * - * @param String hex 16进制值字符串 （一个unicode为2byte） - * @return String 全角字符串 - */ - public static String unicodeToString(String hex) { - int t = hex.length() / 6; - StringBuilder str = new StringBuilder(); - for (int i = 0; i < t; i++) { - String s = hex.substring(i * 6, (i + 1) * 6); - // 高位需要补上00再转 - String s1 = s.substring(2, 4) + "00"; - // 低位直接转 - String s2 = s.substring(4); - // 将16进制的string转为int - int n = Integer.valueOf(s1, 16) + Integer.valueOf(s2, 16); - // 将int转换为字符 - char[] chars = Character.toChars(n); - str.append(new String(chars)); - } - return str.toString(); - } - - /** - * 整型数据拆分为长度为2的字节数组，低8位存放在序号小的元素，高8位存放在序号大的元素中(大端存储) - * - * @param data - * @return - */ - public static byte[] intTo2Byte(int data) { - byte[] byteArray = new byte[2]; - byteArray[0] = (byte) (data >> 8); - byteArray[1] = (byte) data; - return byteArray; - } - - /** - * 将两个字节拼接还原成无符号的整型数据 - * 数据域中的数据都按小端存储，示例：数据0x1234，则Byte0为0x34,Byte1为0x12 - * - * @param byte1 - * @param byte2 - * @return - */ - public static int joint2ByteToInt(byte byte1, byte byte2) { - int result = byte1 & 0xFF; - result = (result << 8) | (0x00FF & byte2); - return result; - } - - /** - * 拼接两个byte[] - * - * @param - * @param - * @return - */ - public static byte[] concatBytes(byte[] bt1, byte[] bt2) { - if (bt1 == null) { - return bt2; - } - if (bt2 == null) { - return bt1; - } - byte[] bt3 = new byte[bt1.length + bt2.length]; - System.arraycopy(bt1, 0, bt3, 0, bt1.length); - System.arraycopy(bt2, 0, bt3, bt1.length, bt2.length); - return bt3; - } - - //获得本机cpu大小端 - public static boolean isBigendian() { - short i = 0x1; - boolean bRet = ((i >> 8) == 0x1); - return bRet; - } - - - /** - * 无符号 - * 1 byte - * - * @param data - * @return - */ - - - public static int get8bitUnsignedValue(byte[] data) { - int value = 0; - int index = 0; - if (data.length > index) { - value = data[index] & 0xFF; - } - return value; - } - - /** - * 无符号 - * 合并 2 byte - * - * @param data - * @return - */ - public static int get16bitUnsignedValue(byte[] data) { - int value = 0; - int index = 0; - if (data.length > index + 1) { - value = data[index++] & 0xFF; - value = value << 8; - value = value | (data[index] & 0xFF); - } - return value; - } - - /** - * 无符号 - * 合并 4 byte - * - * @param data - * @return - */ - public static long get32bitUnsignedValue(byte[] data) { - long value = 0L; - int index = 0; - if (data.length > index + 3) { - value = data[index++] & 0xFF; - value = value << 8; - value = value | (data[index++] & 0xFF); - value = value << 8; - value = value | (data[index++] & 0xFF); - value = value << 8; - value = value | (data[index] & 0xFF); - } - return value; - } - - public static byte[] set8bitUnsignedValue(int num) { - return new byte[]{(byte) (num)}; - } - - public static byte[] set16bitUnsignedValue(int num) { - byte[] bytes = new byte[2]; - bytes[0] = (byte) (num >> 8); - bytes[1] = (byte) num; - return bytes; - } - - public static byte[] set32bitUnsignedValue(long num) { - byte[] bytes = new byte[4]; - bytes[0] = (byte) (num >> 24); - bytes[1] = (byte) (num >> 16); - bytes[2] = (byte) (num >> 8); - bytes[3] = (byte) num; - return bytes; - } - - public static byte[] set64bitUnsignedValue(long num) { - byte[] bytes = new byte[8]; - bytes[0] = (byte) (num >> 56); - bytes[1] = (byte) (num >> 48); - bytes[2] = (byte) (num >> 40); - bytes[3] = (byte) (num >> 32); - bytes[4] = (byte) (num >> 24); - bytes[5] = (byte) (num >> 16); - bytes[6] = (byte) (num >> 8); - bytes[7] = (byte) num; - return bytes; - } - -} \ No newline at end of file diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/ProtocolStatus.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/ProtocolStatus.java index 52f6bb9168..2ed3a7e911 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/ProtocolStatus.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/ProtocolStatus.java @@ -10,7 +10,8 @@ public enum ProtocolStatus { MAGIC_CODE_CHECK_FAILED(0x01, "数据头校验失败"), PACKAGE_LENGTH_CHECK_FAILED(0x02, "数据包长度校验失败"), MESSAGE_TYPE_UNKNOWN(0x03, "MessageType未知"), - BUSINESS_DATA_PARSE_FAILED(0x04, "业务数据解析失败"); + HEADER_DECODE_FAILED(0x04, "Header解析失败"), + BUSINESS_DATA_PARSE_FAILED(0x05, "业务数据解析失败"); public final int code; diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/ReceiveTimeoutManager.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/ReceiveTimeoutManager.java index 1fefca07a8..92c8f4576a 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/ReceiveTimeoutManager.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/ReceiveTimeoutManager.java @@ -11,10 +11,12 @@ import java.util.concurrent.atomic.AtomicBoolean; */ public class ReceiveTimeoutManager { private static final String TAG = ReceiveTimeoutManager.class.getSimpleName(); + private static final long DEFAULT_TIMEOUT = 4 * 1000L;//默认超时时间 private static volatile ReceiveTimeoutManager INSTANCE; - private static final long DEFAULT_TIMEOUT = 3 * 1000L;//默认超时时间 private final AtomicBoolean isEnable = new AtomicBoolean(true);//是否启用超时检测 - private volatile long lastReceiveTime; + private long timeout = DEFAULT_TIMEOUT;//可配置超时时间 + private double lastReceiveTime;//double 秒 + private long timeoutPeriod;//超时时间，最后一次接收时间 + timeout private OnTimeoutListener listener; private volatile Timer timer; @@ -53,7 +55,7 @@ public class ReceiveTimeoutManager { public void setEnable(boolean isEnable, @Define.IPCConnectionStatus int ipcConnectionStatus) { this.isEnable.set(isEnable); //如果启动并且当前已连接 - if (isEnable) { + if (this.isEnable.get()) { if (ipcConnectionStatus == Constants.IPC_CONNECTION_STATUS.CONNECTED) start(); } else { @@ -61,32 +63,54 @@ public class ReceiveTimeoutManager { } } + /** + * 超时时间 + * + * @param timeout 毫秒 + */ + public void setTimeout(long timeout) { + //如果一启动 停止再启动 新timeout如果小于当前 老timeout将有可能出现时间差计算出错的情况 + if (timeout < 1000L) { + timeout = 1000L; + } + this.timeout = timeout; + if (timer != null) { + stop(); + start(); + } + } + + public long getTimeout() { + return timeout; + } /** * 刷新最后一次接收数据时间 */ - public void refreshLast() { + public void refreshLast(double timestamp) { if (isEnable.get()) - lastReceiveTime = System.currentTimeMillis(); + lastReceiveTime = timestamp; } public synchronized void start() { if (isEnable.get()) if (timer == null) { - refreshLast(); + refreshLast(System.currentTimeMillis() / 1000.0D); + timeoutPeriod = ((long) lastReceiveTime * 1000) + timeout; timer = new Timer(); timer.schedule(new TimerTask() { @Override public void run() { - long difference = System.currentTimeMillis() - lastReceiveTime; + long difference = timeoutPeriod - ((long) lastReceiveTime * 1000); + timeoutPeriod = ((long) lastReceiveTime * 1000) + timeout; CupidLogUtils.e(TAG, "最后一次接收工控机数据时间与当前时间差=" + (difference / 1000.0) + "秒"); - if (difference >= DEFAULT_TIMEOUT) { + if (difference >= timeout) { if (listener != null) { listener.onTimeout(difference / 1000.0); } } } - }, DEFAULT_TIMEOUT, DEFAULT_TIMEOUT);//延时 + }, timeout, timeout);//延时 } } diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/ArrivalNotificationMessage.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/ArrivalNotificationMessage.java index 6ae4dbb70e..0dcee71873 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/ArrivalNotificationMessage.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/ArrivalNotificationMessage.java @@ -3,6 +3,7 @@ package com.zhidao.support.adas.high.msg; import com.google.gson.Gson; import com.google.protobuf.InvalidProtocolBufferException; import com.zhidao.support.adas.high.OnAdasListener; +import com.zhidao.support.adas.high.protocol.RawData; import mogo.telematics.pad.MessagePad; @@ -16,14 +17,12 @@ public class ArrivalNotificationMessage extends MyAbstractMessageHandler { } @Override - public void handlerMsg(MessagePad.Header header, byte[] msg, OnAdasListener adasListener) throws InvalidProtocolBufferException { - MessagePad.ArrivalNotification arrivalNotification = MessagePad.ArrivalNotification.parseFrom(msg); + public void handlerMsg(RawData raw, OnAdasListener adasListener) throws InvalidProtocolBufferException { + MessagePad.ArrivalNotification arrivalNotification = MessagePad.ArrivalNotification.parser().parseFrom(raw.originalData.toByteArray(), raw.getOffsetValue(), raw.getPackageLengthValue() - raw.getOffsetValue()); if (adasListener != null) { - adasListener.onArrivalNotification(header, arrivalNotification); - + adasListener.onArrivalNotification(raw.getHeader(), arrivalNotification); } // CupidLogUtils.e("到站提醒--->" + arrivalNotification.toString()); } - } diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/AutopilotStateMessage.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/AutopilotStateMessage.java index e1250bf431..7d60f7fc5e 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/AutopilotStateMessage.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/AutopilotStateMessage.java @@ -3,6 +3,7 @@ package com.zhidao.support.adas.high.msg; import com.google.gson.Gson; import com.google.protobuf.InvalidProtocolBufferException; import com.zhidao.support.adas.high.OnAdasListener; +import com.zhidao.support.adas.high.protocol.RawData; import mogo.telematics.pad.MessagePad; @@ -16,13 +17,11 @@ public class AutopilotStateMessage extends MyAbstractMessageHandler { } @Override - public void handlerMsg(MessagePad.Header header, byte[] msg, OnAdasListener adasListener) throws InvalidProtocolBufferException { - MessagePad.AutopilotState autopilotState = MessagePad.AutopilotState.parseFrom(msg); + public void handlerMsg(RawData raw, OnAdasListener adasListener) throws InvalidProtocolBufferException { + MessagePad.AutopilotState autopilotState = MessagePad.AutopilotState.parser().parseFrom(raw.originalData.toByteArray(), raw.getOffsetValue(), raw.getPackageLengthValue() - raw.getOffsetValue()); if (adasListener != null) { - adasListener.onAutopilotState(header, autopilotState); + adasListener.onAutopilotState(raw.getHeader(), autopilotState); } // CupidLogUtils.e("自动驾驶状态--->" + autopilotState.toString()); } - - } diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/BasicInfoReqMessage.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/BasicInfoReqMessage.java index 62e6836e96..8cfea8ec08 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/BasicInfoReqMessage.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/BasicInfoReqMessage.java @@ -3,6 +3,7 @@ package com.zhidao.support.adas.high.msg; import com.google.gson.Gson; import com.google.protobuf.InvalidProtocolBufferException; import com.zhidao.support.adas.high.OnAdasListener; +import com.zhidao.support.adas.high.protocol.RawData; import mogo.telematics.pad.MessagePad; @@ -16,13 +17,11 @@ public class BasicInfoReqMessage extends MyAbstractMessageHandler { } @Override - public void handlerMsg(MessagePad.Header header, byte[] msg, OnAdasListener adasListener) throws InvalidProtocolBufferException { - MessagePad.BasicInfoReq autopilotState = MessagePad.BasicInfoReq.parseFrom(msg); + public void handlerMsg(RawData raw, OnAdasListener adasListener) throws InvalidProtocolBufferException { + MessagePad.BasicInfoReq autopilotState = MessagePad.BasicInfoReq.parser().parseFrom(raw.originalData.toByteArray(), raw.getOffsetValue(), raw.getPackageLengthValue() - raw.getOffsetValue()); if (adasListener != null) { - adasListener.onBasicInfoReq(header, autopilotState); + adasListener.onBasicInfoReq(raw.getHeader(), autopilotState); } // CupidLogUtils.e("自动驾驶设备基础信息请求--->" + autopilotState.toString()); } - - } diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/CarConfigRespMessage.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/CarConfigRespMessage.java index 0d1387222c..2a257ab4d2 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/CarConfigRespMessage.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/CarConfigRespMessage.java @@ -5,6 +5,7 @@ import com.google.protobuf.InvalidProtocolBufferException; import com.zhidao.support.adas.high.AdasManager; import com.zhidao.support.adas.high.OnAdasListener; import com.zhidao.support.adas.high.common.CupidLogUtils; +import com.zhidao.support.adas.high.protocol.RawData; import mogo.telematics.pad.MessagePad; @@ -18,14 +19,12 @@ public class CarConfigRespMessage extends MyAbstractMessageHandler { } @Override - public void handlerMsg(MessagePad.Header header, byte[] msg, OnAdasListener adasListener) throws InvalidProtocolBufferException { - MessagePad.CarConfigResp carConfigResp = MessagePad.CarConfigResp.parseFrom(msg); + public void handlerMsg(RawData raw, OnAdasListener adasListener) throws InvalidProtocolBufferException { + MessagePad.CarConfigResp carConfigResp = MessagePad.CarConfigResp.parser().parseFrom(raw.originalData.toByteArray(), raw.getOffsetValue(), raw.getPackageLengthValue() - raw.getOffsetValue()); AdasManager.getInstance().setCarConfig(carConfigResp); if (adasListener != null) { - adasListener.onCarConfigResp(header, carConfigResp); + adasListener.onCarConfigResp(raw.getHeader(), carConfigResp); } CupidLogUtils.e("车机基础信息应答--->" + carConfigResp.toString()); } - - } diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/GlobalPathRespMessage.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/GlobalPathRespMessage.java index 82d9c0940a..d1b57917b5 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/GlobalPathRespMessage.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/GlobalPathRespMessage.java @@ -3,6 +3,7 @@ package com.zhidao.support.adas.high.msg; import com.google.gson.Gson; import com.google.protobuf.InvalidProtocolBufferException; import com.zhidao.support.adas.high.OnAdasListener; +import com.zhidao.support.adas.high.protocol.RawData; import mogo.telematics.pad.MessagePad; @@ -16,13 +17,11 @@ public class GlobalPathRespMessage extends MyAbstractMessageHandler { } @Override - public void handlerMsg(MessagePad.Header header, byte[] msg, OnAdasListener adasListener) throws InvalidProtocolBufferException { - MessagePad.GlobalPathResp globalPathResp = MessagePad.GlobalPathResp.parseFrom(msg); + public void handlerMsg(RawData raw, OnAdasListener adasListener) throws InvalidProtocolBufferException { + MessagePad.GlobalPathResp globalPathResp = MessagePad.GlobalPathResp.parser().parseFrom(raw.originalData.toByteArray(), raw.getOffsetValue(), raw.getPackageLengthValue() - raw.getOffsetValue()); if (adasListener != null) { - adasListener.onGlobalPathResp(header, globalPathResp); + adasListener.onGlobalPathResp(raw.getHeader(), globalPathResp); } // CupidLogUtils.e("自动驾驶路径应答--->" + globalPathResp.toString()); } - - } diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/GnssInfoMessage.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/GnssInfoMessage.java index 2a027e6078..cd5b3a0290 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/GnssInfoMessage.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/GnssInfoMessage.java @@ -1,9 +1,10 @@ package com.zhidao.support.adas.high.msg; + import com.google.gson.Gson; import com.google.protobuf.InvalidProtocolBufferException; import com.zhidao.support.adas.high.OnAdasListener; -import com.zhidao.support.adas.high.common.ReceiveTimeoutManager; +import com.zhidao.support.adas.high.protocol.RawData; import mogo.telematics.pad.MessagePad; @@ -17,14 +18,11 @@ public class GnssInfoMessage extends MyAbstractMessageHandler { } @Override - public void handlerMsg(MessagePad.Header header, byte[] msg, OnAdasListener adasListener) throws InvalidProtocolBufferException { - ReceiveTimeoutManager.getInstance().refreshLast(); - MessagePad.GnssInfo trajectory = MessagePad.GnssInfo.parseFrom(msg); + public void handlerMsg(RawData raw, OnAdasListener adasListener) throws InvalidProtocolBufferException { + MessagePad.GnssInfo trajectory = MessagePad.GnssInfo.parser().parseFrom(raw.originalData.toByteArray(), raw.getOffsetValue(), raw.getPackageLengthValue() - raw.getOffsetValue()); if (adasListener != null) { - adasListener.onGnssInfo(header, trajectory); + adasListener.onGnssInfo(raw.getHeader(), trajectory); } // CupidLogUtils.e("惯导信息--->" + trajectory.toString()); } - - } diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/IMsg.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/IMsg.java index afe897f90c..ccfc5f7e5b 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/IMsg.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/IMsg.java @@ -3,8 +3,7 @@ package com.zhidao.support.adas.high.msg; import com.google.gson.Gson; import com.google.protobuf.InvalidProtocolBufferException; import com.zhidao.support.adas.high.OnAdasListener; - -import mogo.telematics.pad.MessagePad; +import com.zhidao.support.adas.high.protocol.RawData; /** * @author nie yunlong @@ -19,6 +18,13 @@ public interface IMsg { */ void handlerMsg(Gson gson, OnAdasListener adasListener, String msg); - void handlerMsg(MessagePad.Header header, byte[] msg, OnAdasListener adasListener) throws InvalidProtocolBufferException; + /** + * 分发处理 + * + * @param raw 原始数据 + * @param adasListener 监听 + * @throws InvalidProtocolBufferException + */ + void handlerMsg(RawData raw, OnAdasListener adasListener) throws InvalidProtocolBufferException; } diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/NuImplMessage.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/NuImplMessage.java index 3b884dc5d6..cfdd35333d 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/NuImplMessage.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/NuImplMessage.java @@ -3,6 +3,7 @@ package com.zhidao.support.adas.high.msg; import com.google.gson.Gson; import com.google.protobuf.InvalidProtocolBufferException; import com.zhidao.support.adas.high.OnAdasListener; +import com.zhidao.support.adas.high.protocol.RawData; import mogo.telematics.pad.MessagePad; @@ -19,7 +20,7 @@ public class NuImplMessage extends MyAbstractMessageHandler { } @Override - public void handlerMsg(MessagePad.Header header, byte[] msg, OnAdasListener adasListener) throws InvalidProtocolBufferException { + public void handlerMsg(RawData raw, OnAdasListener adasListener) throws InvalidProtocolBufferException { } diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/PerceptionObstaclesMessage.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/PerceptionObstaclesMessage.java index 9e31d08ec5..b4473fe964 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/PerceptionObstaclesMessage.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/PerceptionObstaclesMessage.java @@ -3,8 +3,8 @@ package com.zhidao.support.adas.high.msg; import com.google.gson.Gson; import com.google.protobuf.InvalidProtocolBufferException; import com.zhidao.support.adas.high.OnAdasListener; +import com.zhidao.support.adas.high.protocol.RawData; -import mogo.telematics.pad.MessagePad; import perception.ObjectOuterClass; /** @@ -17,12 +17,10 @@ public class PerceptionObstaclesMessage extends MyAbstractMessageHandler { } @Override - public void handlerMsg(MessagePad.Header header, byte[] msg, OnAdasListener adasListener) throws InvalidProtocolBufferException { - ObjectOuterClass.TrackedObjects trackedObjects = ObjectOuterClass.TrackedObjects.parseFrom(msg); + public void handlerMsg(RawData raw, OnAdasListener adasListener) throws InvalidProtocolBufferException { + ObjectOuterClass.TrackedObjects trackedObjects = ObjectOuterClass.TrackedObjects.parser().parseFrom(raw.originalData.toByteArray(), raw.getOffsetValue(), raw.getPackageLengthValue() - raw.getOffsetValue()); if (adasListener != null) { - adasListener.onTrackedObjects(header, trackedObjects); + adasListener.onTrackedObjects(raw.getHeader(), trackedObjects); } } - - } diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/PerceptionTrafficLightMessage.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/PerceptionTrafficLightMessage.java index c3c6a37828..8842d5928b 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/PerceptionTrafficLightMessage.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/PerceptionTrafficLightMessage.java @@ -3,8 +3,8 @@ package com.zhidao.support.adas.high.msg; import com.google.gson.Gson; import com.google.protobuf.InvalidProtocolBufferException; import com.zhidao.support.adas.high.OnAdasListener; +import com.zhidao.support.adas.high.protocol.RawData; -import mogo.telematics.pad.MessagePad; import perception.TrafficLightOuterClass; /** @@ -17,12 +17,10 @@ public class PerceptionTrafficLightMessage extends MyAbstractMessageHandler { } @Override - public void handlerMsg(MessagePad.Header header, byte[] msg, OnAdasListener adasListener) throws InvalidProtocolBufferException { - TrafficLightOuterClass.TrafficLights trafficLights = TrafficLightOuterClass.TrafficLights.parseFrom(msg); + public void handlerMsg(RawData raw, OnAdasListener adasListener) throws InvalidProtocolBufferException { + TrafficLightOuterClass.TrafficLights trafficLights = TrafficLightOuterClass.TrafficLights.parser().parseFrom(raw.originalData.toByteArray(), raw.getOffsetValue(), raw.getPackageLengthValue() - raw.getOffsetValue()); if (adasListener != null) { - adasListener.onPerceptionTrafficLight(header, trafficLights); + adasListener.onPerceptionTrafficLight(raw.getHeader(), trafficLights); } } - - } diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/PointCloudMessage.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/PointCloudMessage.java index 75abf34b1e..0dce9aa4fd 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/PointCloudMessage.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/PointCloudMessage.java @@ -3,8 +3,8 @@ package com.zhidao.support.adas.high.msg; import com.google.gson.Gson; import com.google.protobuf.InvalidProtocolBufferException; import com.zhidao.support.adas.high.OnAdasListener; +import com.zhidao.support.adas.high.protocol.RawData; -import mogo.telematics.pad.MessagePad; import rule_segement.PointCloud; /** @@ -17,12 +17,10 @@ public class PointCloudMessage extends MyAbstractMessageHandler { } @Override - public void handlerMsg(MessagePad.Header header, byte[] msg, OnAdasListener adasListener) throws InvalidProtocolBufferException { - PointCloud.LidarPointCloud pointCloud = PointCloud.LidarPointCloud.parseFrom(msg); + public void handlerMsg(RawData raw, OnAdasListener adasListener) throws InvalidProtocolBufferException { + PointCloud.LidarPointCloud pointCloud = PointCloud.LidarPointCloud.parser().parseFrom(raw.originalData.toByteArray(), raw.getOffsetValue(), raw.getPackageLengthValue() - raw.getOffsetValue()); if (adasListener != null) { - adasListener.onPointCloud(header, pointCloud); + adasListener.onPointCloud(raw.getHeader(), pointCloud); } } - - } diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/PredictionObstacleTrajectoryMessage.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/PredictionObstacleTrajectoryMessage.java index 3872f73c0b..cadd4debe6 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/PredictionObstacleTrajectoryMessage.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/PredictionObstacleTrajectoryMessage.java @@ -3,8 +3,8 @@ package com.zhidao.support.adas.high.msg; import com.google.gson.Gson; import com.google.protobuf.InvalidProtocolBufferException; import com.zhidao.support.adas.high.OnAdasListener; +import com.zhidao.support.adas.high.protocol.RawData; -import mogo.telematics.pad.MessagePad; import prediction.Prediction; /** @@ -17,12 +17,10 @@ public class PredictionObstacleTrajectoryMessage extends MyAbstractMessageHandle } @Override - public void handlerMsg(MessagePad.Header header, byte[] msg, OnAdasListener adasListener) throws InvalidProtocolBufferException { - Prediction.mPredictionObjects objects = Prediction.mPredictionObjects.parseFrom(msg); + public void handlerMsg(RawData raw, OnAdasListener adasListener) throws InvalidProtocolBufferException { + Prediction.mPredictionObjects objects = Prediction.mPredictionObjects.parser().parseFrom(raw.originalData.toByteArray(), raw.getOffsetValue(), raw.getPackageLengthValue() - raw.getOffsetValue()); if (adasListener != null) { - adasListener.onPredictionObstacleTrajectory(header, objects); + adasListener.onPredictionObstacleTrajectory(raw.getHeader(), objects); } } - - } diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/RecordResultMessage.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/RecordResultMessage.java index 6cb1ac1fbb..5541108711 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/RecordResultMessage.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/RecordResultMessage.java @@ -3,8 +3,8 @@ package com.zhidao.support.adas.high.msg; import com.google.gson.Gson; import com.google.protobuf.InvalidProtocolBufferException; import com.zhidao.support.adas.high.OnAdasListener; +import com.zhidao.support.adas.high.protocol.RawData; -import mogo.telematics.pad.MessagePad; import record_cache.RecordPanelOuterClass; /** @@ -17,13 +17,11 @@ public class RecordResultMessage extends MyAbstractMessageHandler { } @Override - public void handlerMsg(MessagePad.Header header, byte[] msg, OnAdasListener adasListener) throws InvalidProtocolBufferException { - RecordPanelOuterClass.RecordPanel recordPanel = RecordPanelOuterClass.RecordPanel.parseFrom(msg); + public void handlerMsg(RawData raw, OnAdasListener adasListener) throws InvalidProtocolBufferException { + RecordPanelOuterClass.RecordPanel recordPanel = RecordPanelOuterClass.RecordPanel.parser().parseFrom(raw.originalData.toByteArray(), raw.getOffsetValue(), raw.getPackageLengthValue() - raw.getOffsetValue()); if (adasListener != null) { - adasListener.onRecordResult(header, recordPanel); + adasListener.onRecordResult(raw.getHeader(), recordPanel); } -// CupidLogUtils.e("数据采集结果--->" + recordPanel.toString()); +// CupidLogUtils.e("数据采集结果--->" + recordPanel.toString());; } - - } diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/ReportMessage.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/ReportMessage.java index a0635df079..9d9ffac66f 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/ReportMessage.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/ReportMessage.java @@ -3,8 +3,8 @@ package com.zhidao.support.adas.high.msg; import com.google.gson.Gson; import com.google.protobuf.InvalidProtocolBufferException; import com.zhidao.support.adas.high.OnAdasListener; +import com.zhidao.support.adas.high.protocol.RawData; -import mogo.telematics.pad.MessagePad; import mogo_msg.MogoReportMsg; /** @@ -17,12 +17,10 @@ public class ReportMessage extends MyAbstractMessageHandler { } @Override - public void handlerMsg(MessagePad.Header header, byte[] msg, OnAdasListener adasListener) throws InvalidProtocolBufferException { - MogoReportMsg.MogoReportMessage mogoReportMessage = MogoReportMsg.MogoReportMessage.parseFrom(msg); + public void handlerMsg(RawData raw, OnAdasListener adasListener) throws InvalidProtocolBufferException { + MogoReportMsg.MogoReportMessage mogoReportMessage = MogoReportMsg.MogoReportMessage.parser().parseFrom(raw.originalData.toByteArray(), raw.getOffsetValue(), raw.getPackageLengthValue() - raw.getOffsetValue()); if (adasListener != null) { - adasListener.onReportMessage(header, mogoReportMessage); + adasListener.onReportMessage(raw.getHeader(), mogoReportMessage); } } - - } diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/TrackedObjectsMessage.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/TrackedObjectsMessage.java index 56ebaf5d86..021e81e0ba 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/TrackedObjectsMessage.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/TrackedObjectsMessage.java @@ -3,6 +3,7 @@ package com.zhidao.support.adas.high.msg; import com.google.gson.Gson; import com.google.protobuf.InvalidProtocolBufferException; import com.zhidao.support.adas.high.OnAdasListener; +import com.zhidao.support.adas.high.protocol.RawData; import mogo.telematics.pad.MessagePad; @@ -19,13 +20,11 @@ public class TrackedObjectsMessage extends MyAbstractMessageHandler { } @Override - public void handlerMsg(MessagePad.Header header, byte[] msg, OnAdasListener adasListener) throws InvalidProtocolBufferException { - MessagePad.TrackedObjects trackedObjects = MessagePad.TrackedObjects.parseFrom(msg); + public void handlerMsg(RawData raw, OnAdasListener adasListener) throws InvalidProtocolBufferException { + MessagePad.TrackedObjects trackedObjects = MessagePad.TrackedObjects.parser().parseFrom(raw.originalData.toByteArray(), raw.getOffsetValue(), raw.getPackageLengthValue() - raw.getOffsetValue()); if (adasListener != null) { - adasListener.onTrackedObjects(header, trackedObjects); + adasListener.onTrackedObjects(raw.getHeader(), trackedObjects); } // CupidLogUtils.e("障碍物信息--->" + trackedObjects.toString()); } - - } diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/TrajectoryMessage.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/TrajectoryMessage.java index f4b2d5c19a..a90a1dc1f8 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/TrajectoryMessage.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/TrajectoryMessage.java @@ -3,6 +3,7 @@ package com.zhidao.support.adas.high.msg; import com.google.gson.Gson; import com.google.protobuf.InvalidProtocolBufferException; import com.zhidao.support.adas.high.OnAdasListener; +import com.zhidao.support.adas.high.protocol.RawData; import mogo.telematics.pad.MessagePad; @@ -16,13 +17,11 @@ public class TrajectoryMessage extends MyAbstractMessageHandler { } @Override - public void handlerMsg(MessagePad.Header header, byte[] msg, OnAdasListener adasListener) throws InvalidProtocolBufferException { - MessagePad.Trajectory trajectory = MessagePad.Trajectory.parseFrom(msg); + public void handlerMsg(RawData raw, OnAdasListener adasListener) throws InvalidProtocolBufferException { + MessagePad.Trajectory trajectory = MessagePad.Trajectory.parser().parseFrom(raw.originalData.toByteArray(), raw.getOffsetValue(), raw.getPackageLengthValue() - raw.getOffsetValue()); if (adasListener != null) { - adasListener.onTrajectory(header, trajectory); + adasListener.onTrajectory(raw.getHeader(), trajectory); } // CupidLogUtils.e("车前引导线--->" + trajectory.toString()); } - - } diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/VehicleStateMessage.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/VehicleStateMessage.java index 77f0d979b8..bcbc2a4aa5 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/VehicleStateMessage.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/VehicleStateMessage.java @@ -3,9 +3,9 @@ package com.zhidao.support.adas.high.msg; import com.google.gson.Gson; import com.google.protobuf.InvalidProtocolBufferException; import com.zhidao.support.adas.high.OnAdasListener; +import com.zhidao.support.adas.high.protocol.RawData; import chassis.VehicleStateOuterClass; -import mogo.telematics.pad.MessagePad; /** * 底盘信息, 透传底盘状态，pb参考底盘 @@ -17,13 +17,11 @@ public class VehicleStateMessage extends MyAbstractMessageHandler { } @Override - public void handlerMsg(MessagePad.Header header, byte[] msg, OnAdasListener adasListener) throws InvalidProtocolBufferException { - VehicleStateOuterClass.VehicleState vehicleState = VehicleStateOuterClass.VehicleState.parseFrom(msg); + public void handlerMsg(RawData raw, OnAdasListener adasListener) throws InvalidProtocolBufferException { + VehicleStateOuterClass.VehicleState vehicleState = VehicleStateOuterClass.VehicleState.parser().parseFrom(raw.originalData.toByteArray(), raw.getOffsetValue(), raw.getPackageLengthValue() - raw.getOffsetValue()); if (adasListener != null) { - adasListener.onVehicleState(header, vehicleState); + adasListener.onVehicleState(raw.getHeader(), vehicleState); } // CupidLogUtils.e("底盘信息--->" + vehicleState.toString()); } - - } diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/WarnMessage.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/WarnMessage.java index 84395505dc..ccf234da45 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/WarnMessage.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/WarnMessage.java @@ -3,6 +3,7 @@ package com.zhidao.support.adas.high.msg; import com.google.gson.Gson; import com.google.protobuf.InvalidProtocolBufferException; import com.zhidao.support.adas.high.OnAdasListener; +import com.zhidao.support.adas.high.protocol.RawData; import mogo.telematics.pad.MessagePad; @@ -17,13 +18,11 @@ public class WarnMessage extends MyAbstractMessageHandler { } @Override - public void handlerMsg(MessagePad.Header header, byte[] msg, OnAdasListener adasListener) throws InvalidProtocolBufferException { - MessagePad.Warn warn = MessagePad.Warn.parseFrom(msg); + public void handlerMsg(RawData raw, OnAdasListener adasListener) throws InvalidProtocolBufferException { + MessagePad.Warn warn = MessagePad.Warn.parser().parseFrom(raw.originalData.toByteArray(), raw.getOffsetValue(), raw.getPackageLengthValue() - raw.getOffsetValue()); if (adasListener != null) { - adasListener.onWarn(header, warn); + adasListener.onWarn(raw.getHeader(), warn); } // CupidLogUtils.e("预警数据--->" + warn.toString()); } - - } diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/WsAutopilotUpgradeStatusMessage.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/WsAutopilotUpgradeStatusMessage.java index 4ca798716f..0f91658f42 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/WsAutopilotUpgradeStatusMessage.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/WsAutopilotUpgradeStatusMessage.java @@ -4,8 +4,7 @@ import com.google.gson.Gson; import com.google.protobuf.InvalidProtocolBufferException; import com.zhidao.support.adas.high.OnAdasListener; import com.zhidao.support.adas.high.bean.IPCUpgradeStateInfo; - -import mogo.telematics.pad.MessagePad; +import com.zhidao.support.adas.high.protocol.RawData; /** * @des 工控机升级状态 之后版本会被替换成PB格式 @@ -24,7 +23,7 @@ public class WsAutopilotUpgradeStatusMessage extends MyAbstractMessageHandler { } @Override - public void handlerMsg(MessagePad.Header header, byte[] msg, OnAdasListener adasListener) throws InvalidProtocolBufferException { + public void handlerMsg(RawData raw, OnAdasListener adasListener) throws InvalidProtocolBufferException { } diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/protocol/DefaultMessageProtocol.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/protocol/DefaultMessageProtocol.java index cbc4d9f041..1a77194b72 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/protocol/DefaultMessageProtocol.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/protocol/DefaultMessageProtocol.java @@ -42,7 +42,7 @@ public class DefaultMessageProtocol implements IMessageProtocol { * @return */ @Override - public int getOutHeader() { + public int getOutHeaderLength() { return getMagicCodeLength() + getPackageLength() + getOffsetLength(); } @@ -58,7 +58,7 @@ public class DefaultMessageProtocol implements IMessageProtocol { if (offsetValue == 0) { return offsetValue; } - return offsetValue - getOutHeader(); + return offsetValue - getOutHeaderLength(); } /** diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/protocol/IMessageProtocol.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/protocol/IMessageProtocol.java index 0e81ca2ce4..78b5557b1a 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/protocol/IMessageProtocol.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/protocol/IMessageProtocol.java @@ -21,7 +21,7 @@ public interface IMessageProtocol { */ int getPackageLength(); - int getOutHeader(); + int getOutHeaderLength(); /** * 获取header数据长度 diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/protocol/RawData.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/protocol/RawData.java index b8abc9134e..8fdb1f577d 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/protocol/RawData.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/protocol/RawData.java @@ -1,8 +1,11 @@ package com.zhidao.support.adas.high.protocol; -import com.zhidao.support.adas.high.common.DigitalTrans; +import com.zhidao.support.adas.high.common.ByteUtil; import com.zhidao.support.adas.high.common.ProtocolStatus; +import mogo.telematics.pad.MessagePad; +import okio.ByteString; + /** * 原始数据协议 * @@ -12,9 +15,12 @@ import com.zhidao.support.adas.high.common.ProtocolStatus; * 原始数据格式：MagicCode(2字节 6d67) 偏移量(2字节 从原始数据头开始一直到Body头) 数据包总长度（4字节） Header Body */ public class RawData { - /** - * 数据拆包是否成功 + * 原始数据 + */ + public final ByteString originalData; + /** + * 数据拆包状态 */ private ProtocolStatus protocolStatus; @@ -23,7 +29,10 @@ public class RawData { * mg=0x6d67 */ private byte[] magicCode; - + /** + * MG长度+数据包长度+偏移量长度 + */ + private int outHeaderLength; /** * 偏移量，用于计算header长度 */ @@ -39,20 +48,17 @@ public class RawData { /** * 包长度 */ - private long packageLengthValue; + private int packageLengthValue; /** * 头部消息，装载消息类型等 * 长度=offset-out_header.length */ - private byte[] header; + private MessagePad.Header header; - /** - * 负载数据：真实上报的数据 - */ - private byte[] payload; - public RawData() { + public RawData(ByteString originalData) { + this.originalData = originalData; } /** @@ -61,8 +67,8 @@ public class RawData { * 固定8个字节，否则出错。 */ public byte[] getOutHeaderBytes() { - byte[] bytes = DigitalTrans.concatBytes(getMagicCode(), getOffset()); - byte[] outHeader = DigitalTrans.concatBytes(bytes, getPackageLength()); + byte[] bytes = ByteUtil.concatBytes(getMagicCode(), getOffset()); + byte[] outHeader = ByteUtil.concatBytes(bytes, getPackageLength()); return outHeader; } @@ -75,6 +81,13 @@ public class RawData { this.magicCode = magicCode; } + public int getOutHeaderLength() { + return outHeaderLength; + } + + public void setOutHeaderLength(int outHeaderLength) { + this.outHeaderLength = outHeaderLength; + } public byte[] getOffset() { return offset; @@ -89,33 +102,24 @@ public class RawData { return packageLength; } - public void setPackageLength(byte[] packageLength, long packageLengthValue) { + public void setPackageLength(byte[] packageLength, int packageLengthValue) { this.packageLength = packageLength; this.packageLengthValue = packageLengthValue; } - public byte[] getHeader() { + public MessagePad.Header getHeader() { return header; } - public void setHeader(byte[] header) { + public void setHeader(MessagePad.Header header) { this.header = header; } - public byte[] getPayload() { - return payload; - } - - public void setPayload(byte[] payload) { - this.payload = payload; - } - - public int getOffsetValue() { return offsetValue; } - public long getPackageLengthValue() { + public int getPackageLengthValue() { return packageLengthValue; } @@ -133,8 +137,7 @@ public class RawData { offset = null; offsetValue = 0; packageLength = null; - packageLengthValue = 0L; + packageLengthValue = 0; header = null; - payload = null; } } diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/protocol/RawPack.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/protocol/RawPack.java index 293b392338..e39b2e3f7e 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/protocol/RawPack.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/protocol/RawPack.java @@ -1,7 +1,7 @@ package com.zhidao.support.adas.high.protocol; +import com.zhidao.support.adas.high.common.ByteUtil; import com.zhidao.support.adas.high.common.Constants; -import com.zhidao.support.adas.high.common.DigitalTrans; import java.util.concurrent.atomic.AtomicLong; @@ -37,7 +37,7 @@ public class RawPack { headerBuilder.setTimestamp(time); headerBuilder.setSourceTimestamp(time); MessagePad.Header headerPb = headerBuilder.build(); - int lengthValue = messageProtocol.getOutHeader() + headerPb.getSerializedSize();//数据总长度 + int lengthValue = messageProtocol.getOutHeaderLength() + headerPb.getSerializedSize();//数据总长度 byte[] offset = getOffset(lengthValue); if (data != null && data.length > 0) { lengthValue += data.length; @@ -52,10 +52,10 @@ public class RawPack { //添加数据包长度 System.arraycopy(length, 0, msg, messageProtocol.getMagicCodeLength() + messageProtocol.getOffsetLength(), messageProtocol.getPackageLength()); //添加Header - System.arraycopy(header, 0, msg, messageProtocol.getOutHeader(), header.length); + System.arraycopy(header, 0, msg, messageProtocol.getOutHeaderLength(), header.length); //添加数据 if (data != null && data.length > 0) { - System.arraycopy(data, 0, msg, messageProtocol.getOutHeader() + header.length, data.length); + System.arraycopy(data, 0, msg, messageProtocol.getOutHeaderLength() + header.length, data.length); } return ByteString.of(msg); @@ -67,7 +67,7 @@ public class RawPack { * @return */ private byte[] getOffset(int offsetValue) { - return DigitalTrans.set16bitUnsignedValue(offsetValue); + return ByteUtil.set16bitUnsignedValue(offsetValue); } /** @@ -76,6 +76,6 @@ public class RawPack { * @return */ private byte[] getPackageLength(long lengthValue) { - return DigitalTrans.set32bitUnsignedValue(lengthValue); + return ByteUtil.set32bitUnsignedValue(lengthValue); } } diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/protocol/RawUnpack.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/protocol/RawUnpack.java index 3f375ef424..e198a01d69 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/protocol/RawUnpack.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/protocol/RawUnpack.java @@ -1,7 +1,7 @@ package com.zhidao.support.adas.high.protocol; +import com.zhidao.support.adas.high.common.ByteUtil; import com.zhidao.support.adas.high.common.Constants; -import com.zhidao.support.adas.high.common.DigitalTrans; import com.zhidao.support.adas.high.common.ProtocolStatus; import java.util.Arrays; @@ -18,21 +18,19 @@ import okio.ByteString; public class RawUnpack { private static final String TAG = RawUnpack.class.getSimpleName(); private final DefaultMessageProtocol messageProtocol; - private RawData originalData; public RawUnpack() { messageProtocol = new DefaultMessageProtocol(); } public RawData read(ByteString bytes) { - if (originalData == null) - originalData = new RawData(); + RawData originalData = new RawData(bytes); unpack(bytes, originalData); return originalData; } - private synchronized void unpack(ByteString bytes, RawData raw) { + private void unpack(ByteString bytes, RawData raw) { // CupidLogUtils.w(TAG, "WS 原始数据=" + bytes.hex()); //读取magicCode ByteString magicCode; @@ -46,14 +44,15 @@ public class RawUnpack { // CupidLogUtils.w(TAG, "WS MagicCode=" + magicCode.hex()); if (Arrays.equals(magicCode.toByteArray(), Constants.RAW_MG)) { int offsetLength = messageProtocol.getOffsetLength(); - int outHeader = messageProtocol.getOutHeader(); + int outHeaderLength = messageProtocol.getOutHeaderLength(); + raw.setOutHeaderLength(outHeaderLength); //读取offset ByteString offset = bytes.substring(magicCodeLength, magicCodeLength + offsetLength); byte[] offsetB = offset.toByteArray(); raw.setOffset(offsetB, getOffsetValue(offsetB)); // CupidLogUtils.w(TAG, "WS 偏移量 bytes=" + offset.hex() + " 偏移量=" + raw.getOffsetValue()); //读取packageLength - ByteString packageLength = bytes.substring(magicCodeLength + offsetLength, outHeader); + ByteString packageLength = bytes.substring(magicCodeLength + offsetLength, outHeaderLength); byte[] packageLengthB = packageLength.toByteArray(); raw.setPackageLength(packageLengthB, getPackageLengthValue(packageLengthB)); if (bytes.size() != raw.getPackageLengthValue()) { @@ -61,14 +60,8 @@ public class RawUnpack { raw.clear(); return; } -// CupidLogUtils.w(TAG, "WS 数据包从长度 bytes=" + packageLength.hex() + " 数据包从长度=" + raw.getPackageLengthValue()); //读取header - ByteString header = bytes.substring(outHeader, raw.getOffsetValue()); - raw.setHeader(header.toByteArray()); -// CupidLogUtils.w(TAG, "WS Header=" + header.hex()); //读取payload - ByteString payload = bytes.substring(raw.getOffsetValue()); - raw.setPayload(payload.toByteArray()); raw.setProtocolStatus(ProtocolStatus.SUCCEED); // CupidLogUtils.w(TAG, "WS IPC数据=" + payload.hex() + " IPC数据长度=" + messageProtocol.getPayloadLength(raw.getPackageLengthValue(), raw.getOffsetValue())); } else { @@ -87,7 +80,7 @@ public class RawUnpack { if (offset == null || offset.length != 2) { return 0; } - return DigitalTrans.get16bitUnsignedValue(offset); + return ByteUtil.get16bitUnsignedValue(0, offset); } /** @@ -95,10 +88,10 @@ public class RawUnpack { * * @return */ - private long getPackageLengthValue(byte[] length) { + private int getPackageLengthValue(byte[] length) { if (length == null || length.length != 4) { return 0; } - return DigitalTrans.get32bitUnsignedValue(length); + return ByteUtil.get32bitUnsignedValue(0, length); } } diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/thread/DispatchHandler.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/thread/DispatchHandler.java new file mode 100644 index 0000000000..dd173d2fb7 --- /dev/null +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/thread/DispatchHandler.java @@ -0,0 +1,126 @@ +package com.zhidao.support.adas.high.thread; + +import android.os.Handler; +import android.os.HandlerThread; +import android.os.Looper; +import android.os.Message; + +import androidx.annotation.NonNull; + +import com.zhidao.support.adas.high.protocol.RawData; + +import java.lang.ref.WeakReference; + +import okio.ByteString; + +/** + * 将WebSocket线程分发到工作线程 + */ +public class DispatchHandler { + public static final int WHAT_DISPATCH_RAW = 0x01;//分发消息 what + + + private HandlerThread mThread; + private BaseHandler mBaseHandler; + private OnDispatchHandlerListener listener; + + public interface OnDispatchHandlerListener { + void onDispatchRaw(RawData raw); + } + + public DispatchHandler(@NonNull OnDispatchHandlerListener listener) { + this.listener = listener; + + } + + public void start() { + if (mThread == null) { + mThread = new HandlerThread("IPCEventDispatchHandler"); + mThread.start(); + initHandler(mThread.getLooper()); + } + } + + public void stop() { + if (mBaseHandler != null) { + mBaseHandler.removeCallbacksAndMessages(null); + mBaseHandler = null; + } + if (mThread != null) { + mThread.quit(); + mThread = null; + } + } + + public void sendRawMessage(RawData raw) { + if (mBaseHandler != null) { + Message msg = Message.obtain(); + msg.what = WHAT_DISPATCH_RAW; + msg.obj = raw; + mBaseHandler.sendMessage(msg); + } + } + + + /** + * 同Handler 的 handleMessage， + * getHandler.sendMessage,发送的Message在此接收 + * 在此之前确定已经调用initHandler（） + * + * @param msg + */ + protected void handleMessage(Message msg) { + if (msg.what == WHAT_DISPATCH_RAW) { + if (listener != null) { + listener.onDispatchRaw((RawData) msg.obj); + } + } + } + + /** + * 初始化一个Handler，如果需要使用Handler，先调用此方法， + * 然后可以使用postRunnable(Runnable runnable)， + * sendMessage在handleMessage（Message msg）中接收msg + */ + private void initHandler(@NonNull Looper looper) { + mBaseHandler = new BaseHandler(looper, this); + } + + + /** + * 同Handler的postRunnable + * 在此之前确定已经调用initHandler（） + */ + public void postRunnable(Runnable runnable) { + postRunnableDelayed(runnable, 0); + } + + /** + * 同Handler的postRunnableDelayed + * 在此之前确定已经调用initHandler（） + */ + public void postRunnableDelayed(Runnable runnable, long delayMillis) { + if (mBaseHandler != null) + mBaseHandler.postDelayed(runnable, delayMillis); + } + + + protected static class BaseHandler extends Handler { + private final WeakReference mObjects; + + public BaseHandler(@NonNull Looper looper, DispatchHandler mPresenter) { + super(looper); + mObjects = new WeakReference(mPresenter); + } + + + @Override + public void handleMessage(Message msg) { + DispatchHandler mPresenter = mObjects.get(); + if (mPresenter != null) + mPresenter.handleMessage(msg); + } + } + + +}